[Baja Guy]

My dad used to run his Freedom 21 shoal keel sailboat between 6 Mile and Little 6. I'd be begging him to turn back, and he would go right through.
"There's one", he'd say and a boulder the size of a vw bettle would be right under one side of the boat. Then, "now there's one more over there", and he'd change heading a bit. I always kind of wished he'd get his comeuppance but he never did.
That boat drew 2 or 3 feet of water. He had found his way through years before in a Rebel center board boat that drew at least 3 feet.
I only ever went outside the markers twice. The first time I smashed the family boat lower unit. The 2nd time I just stopped and backed out. Hitting bottom teaches much respect!
Local knowledge does rule though!